Hello EveryoneI am new to Autoquad Forum and will be pleased if I can find good solutions to my problems here.I am trying to stabilize a quad rotor of mine; Using MPU6050 as an IMU and Stm32f4 as the main mcu.Also I designed a complementary filter to compute attitude and PID to control. The Problem is about the stability of my Quad. when the system try to be stable, a pendulum motion begins to start and the motion continues the same way.

Does any one have been faced with such problem??What will be the solution??Thanks